A fork positioning method for stacker

Abstract

The present invention discloses a method for positioning a fork of a stacker, comprising the following steps of stock positioning: 1) establishing a communication connection between the PLC of the stacker and the stereoscopic warehouse management system, the PLC of the truss mechanical arm, and the production line scheduling system; 2) moving the fork of the stacker to a corresponding position according to the length information of the incoming steel plate of the production line scheduling system; 3) the stacker moves to a position where the center of the fork coincides with the center of the incoming steel plate; 4) the truss mechanical arm receives the incoming steel plate, and then stores the incoming steel plate to a storage position on a corresponding shelf through the fork. The present invention realizes the precise positioning of the stacker, and can store and retrieve steel plates of different sizes.

Description

Technical Field

[0001] The invention relates to a positioning method for a cargo storage and retrieval device in a stereoscopic warehouse, and more specifically to a positioning method for a fork of a stacker. Background Art

[0002] The automated high-bay warehouse is a high-rise warehouse system that stores goods on multiple floors, including multi-layer shelves, aisle stackers, etc. The goods are put in and taken out of the warehouse by the aisle stacker, and the aisle stacker uses a telescopic fork to fork the goods to the multi-layer shelves and take the goods out of the shelves. The aisle stacker is the core equipment of the high-bay warehouse. It can store and retrieve goods at any location on the shelf, thus realizing the flexible storage and retrieval function of the high-bay warehouse. Due to the high-speed operation and dense storage of goods, the aisle stacker is required to be positioned very accurately.

[0003] There are many positioning methods in the industry at present, but they are all for the positioning of aisle stackers. Because the forks of the aisle stacker are fixed, the cargo positions of the three-dimensional warehouse are also fixed, and the specifications of the stored goods are also relatively fixed, so the positioning is simple.

[0004] However, since the incoming steel plates of the thick plate sample shearing lines of some steel companies vary greatly in size and specifications, the simple positioning of the tunnel stacker alone can no longer meet the on-site requirements.

[0005] The sample shearing line is a branch of the main shearing production line. The stability of its equipment operation will affect and restrict the production of the main shearing line, and it is an important link in the production of thick plates. However, the automation level of the sample shearing line is low, and it needs to be operated manually. The sample shearing area can only be buffered by limited logistics through the sample transverse platform. Once the sample shear fails, or the temporary additional sampling has not yet generated the telegram, it will affect the production of the main thick plate shearing line, causing steel plates to pile up and making it difficult to resume production.

[0006] In the existing patent applications, such as Chinese patent 201410629140.5, a method for rechecking the direction and positioning of a stacker is disclosed. An induction iron block is installed at each end of the stacker, a laser rangefinder is set on the stacker, and proximity switches are set on both sides of each conveyor; the IO signal of the proximity switch is connected to the control system of the stacker; the control system performs direction and positioning recheck according to the signal values ​​of S1, R, D, A1, F, B1, AT, etc. The present invention can improve the positioning accuracy of the stacker from the current ±5mm accuracy error to ±1mm, reduce the distance between the shelf and the material pallet, and improve the utilization rate of the warehouse area; it can reduce the collision between the fork and the bottom of the pallet and reduce the probability of accidents. However, this technology uses a proximity switch to recheck the detection error and cumulative error of the laser rangefinder, thereby improving the positioning accuracy of the stacker. The goods it stores and retrieves have special pallets, the goods are placed in the pallet, and the pallet is placed on the shelf, so the external dimensions of the stored and retrieved goods (pallets) are fixed. Summary of the invention

[0007] In view of the above-mentioned defects existing in the prior art, the object of the present invention is to provide a fork positioning method for a stacker, so as to achieve accurate positioning of the stacker and store and retrieve steel plates of different sizes and specifications.

[0008] To achieve the above object, the present invention adopts the following technical solution:

[0009] A method for positioning a fork of a stacker, comprising the following steps of positioning a stockpile:

[0010] 1) Establish communication connection between the PLC of the stacker and the three-dimensional warehouse management system, the PLC of the truss robot arm, and the production line scheduling system;

[0011] 2) According to the length information of the incoming steel plate from the production line scheduling system, the fork of the stacker moves to the corresponding position;

[0012] 3) The stacker moves to a position where the center of the fork coincides with the center of the incoming steel plate;

[0013] 4) The truss robot arm receives the incoming steel plates, and then stores the incoming steel plates to the storage location on the corresponding shelf through the fork.

[0014] Preferably, the length of the incoming steel plate is 400 mm to 5000 mm.

[0015] Preferably, the forks are provided with three, and the number of the receiving actions is determined according to the length of the incoming steel plate, as follows:

[0016] When the length of the incoming steel plate is 400 mm to 800 mm, one of the forks collects the material;

[0017] When the length of the incoming steel plate is 800 mm to 1200 mm, the two forks collect the material;

[0018] When the length of the incoming steel plate is 1200mm-1500mm, the two forks collect the material;

[0019] When the length of the incoming steel plate is 1500mm-2000mm, the two forks collect the material;

[0020] When the length of the incoming steel plate is 2000mm-2800mm, the three forks collect the material;

[0021] When the length of the incoming steel plate is 2800 mm to 3600 mm, the three forks collect the material;

[0022] When the length of the incoming steel plate is 3600mm-4400mm, the three forks collect the material;

[0023] When the length of the incoming steel plate is 4400mm-5000mm, the three forks collect the material.

[0024] Preferably, the positioning reference of the fork is as follows:

[0025] When one of the forks is used to collect materials, the center of the fork numbered 1 is used as the positioning reference;

[0026] When two forks are used to collect materials, the center of the fork numbered 1 and the center of the fork numbered 2 are used as positioning references, and the center of the fork numbered 2 coincides with the center of the stacker;

[0027] When the three forks are used to collect materials, the center of the fork numbered 1 and the center of the fork numbered 3 are used as positioning references, the fork numbered 2 is located between the fork numbered 1 and the fork numbered 3, and the center of the fork numbered 2 coincides with the center of the stacker; when the fork numbered 1 and the fork numbered 3 move toward each other to the extreme position relative to the fork numbered 2, the fork numbered 2 needs to move to either side.

[0028] Preferably, the moving distances of the fork and the stacker are both multiples of the distance a between two adjacent cantilevers on the shelf.

[0029] Preferably, the limit position of the fork numbered 1 and the fork numbered 3 moving toward each other relative to the fork numbered 2 is a position 1800 mm away from the fork numbered 2.

[0030] Preferably, the moving position of the fork numbered 2 is a position moved 200 mm to either side.

[0031] Preferably, the method further includes the following material taking and positioning steps:

[0032] 1) The stacker receives a material fetching instruction;

[0033] 2) The stacker and the fork move to the material picking position to perform material picking operation;

[0034] 3) After the material is taken, the stacker sends a command to the truss robot arm, and the truss robot arm grabs the steel plate;

[0035] 4) After grabbing, the stacker returns to the waiting work area and waits for the working state.

[0036] The stacker fork positioning method provided by the present invention can accurately store and retrieve steel plates of different specifications, ensure that the stacker fork positioning and the shelf cantilever do not overlap, effectively prevent the possibility of collision between the stacker telescopic fork and the shelf cantilever, ensure safety, and realize automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the on-site arrangement of a stacker and a fork in the fork positioning method of the present invention;

[0038] Figure 2 It is a schematic diagram of the on-site arrangement of one fork in the fork positioning method of the present invention;

[0039] Figure 3 It is a schematic diagram of the on-site arrangement of two forks used in the fork positioning method of the present invention;

[0040] Figure 4 It is a schematic diagram of the on-site arrangement of three forks in the fork positioning method of the present invention;

[0041] Figure 5 It is a schematic diagram of the on-site arrangement of using three forks to receive the longest incoming material in the fork positioning method of the present invention;

[0042] Figure 6 It is a schematic flow chart of the fork positioning method of the present invention. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0044] Combination Figure 1 As shown, a method for positioning a fork of a stacker provided by the present invention comprises the following steps of positioning the stockpiled materials:

[0045] 1) Establish communication connection and data exchange between the stacker's PLC and the three-dimensional warehouse management system, the truss robot arm's PLC, and the production line scheduling system;

[0046] 2) According to the length information of the incoming steel plate from the production line scheduling system, the fork of the stacker moves to the corresponding position;

[0047] 3) The stacker moves to the position where the center of the fork coincides with the center of the incoming steel plate;

[0048] 4) The truss robot arm receives the incoming steel plates, and then uses the fork to store the incoming steel plates in the storage location on the corresponding shelf.

[0049] The length of the incoming steel plate is 400mm to 5000mm. According to the length specification of the incoming steel plate, multiple receiving length intervals are divided to divide the number of fork actions.

[0050] The distance between two adjacent cantilevers 2 on the shelf 1 is a, and in this embodiment, a is 400 mm.

[0051] There are three forks (all of which are bidirectional telescopic forks). Each fork can move horizontally and telescope independently. The number of material collection actions is determined according to the length of the incoming steel plate. The details are as follows:

[0052] Combination Figure 2 As shown, when the length of the incoming steel plate 7 is 400 mm to 800 mm, one fork is used to collect the material;

[0053] Combination Figure 3 As shown, when the length of the incoming steel plate 7 is 800 mm to 1200 mm, two forks are used to collect the material;

[0054] When the length of the incoming steel plate 7 is 1200mm-1500mm, two forks are used to collect the material;

[0055] When the length of the incoming steel plate 7 is 1500mm-2000mm, two forks are used to collect the material;

[0056] Combination Figure 4 and Figure 5 As shown, when the length of the incoming steel plate 7 is 2000mm to 2800mm, three forks are used to collect the material;

[0057] When the length of the incoming steel plate 7 is 2800mm to 3600mm, three forks are used to collect the material;

[0058] When the length of the incoming steel plate 7 is 3600mm-4400mm, three forks are used to collect the material;

[0059] When the length 7 of the incoming steel plate is 4400mm-5000mm, three forks are used to collect the material.

[0060] The positioning criteria of the fork are as follows:

[0061] Refer to Figure 2 As shown, when one fork is used to collect materials, the center of the fork 3 numbered 1 is used as the positioning reference;

[0062] Refer to Figure 3 As shown, when two forks are used to collect materials, the center of the fork 3 of number 1 and the center of the fork 4 of number 2 are used as positioning references, and the center of the fork 4 of number 2 coincides with the center 6 of the stacker;

[0063] Refer to Figure 4 and Figure 5 As shown, when three forks are used to collect materials, the center of fork 3 No. 1 and the center of fork 5 No. 3 are used as positioning references, fork 4 No. 2 is located between fork 3 No. 1 and fork 5 No. 3, and the center of fork 4 No. 2 coincides with the center 6 of the stacker; when fork 3 No. 1 and fork 5 No. 3 move toward each other to the extreme position relative to fork 4 No. 2, that is, the position of 1800mm, fork 4 No. 2 needs to move 200mm to either side.

[0064] The center of the incoming steel plate must be aligned with the center of the receiving fork.

[0065] The moving distance of the fork is a multiple of the distance a between two adjacent cantilevers 2 on the shelf 1. The stacker also stops at a multiple of the distance a between two adjacent cantilever 2 on the shelf 1. The stacker moves based on the center of the stacker.

[0066] Combination Figure 6 As shown, the stacker receives the incoming steel plate information from the production line scheduling system. According to the length and size information of the incoming steel plate, the three forks move to the appropriate position, and the stacker also moves to the point where the center of the receiving fork coincides with the center of the incoming steel plate, notifying the gantry mechanical arm to receive the material and the receiving position, receiving the steel plate, and according to the storage location management, receiving the information and instructions from the storage management system, the stacker moves to the storage location to store the steel plate. After storage is completed, the fork position and the stacker position of the steel plate information in this storage location are recorded to facilitate operation when retrieving materials. The stacker returns to the waiting work area and waits for the working state.

[0067] During the material picking operation, the stacker receives the material picking instruction and moves the stacker and fork to the appropriate position according to the position information of the fork and stacker recorded during storage to pick up the material. After the material picking is completed, the stacker sends an instruction to the gantry robot arm to grab the material. After the grabbing is completed, the stacker returns to the waiting work area and waits for the working state.

[0068] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A method for positioning a fork of a stacker, characterized in that: The following steps are included in the stock positioning process: 1) Establish communication connection between the PLC of the stacker and the three-dimensional warehouse management system, the PLC of the truss robot arm, and the production line scheduling system; 2) According to the length information of the incoming steel plate from the production line scheduling system, the fork of the stacker moves to the corresponding position; 3) The stacker moves to a position where the center of the fork coincides with the center of the incoming steel plate; 4) The truss robot arm receives the incoming steel plate, and then stores the incoming steel plate to the storage location on the corresponding shelf through the fork. The forks are provided with three pieces, and the number of receiving actions is determined according to the length of the incoming steel plate, as follows: When the length of the incoming steel plate is 400 mm to 800 mm, one of the forks collects the material; When the length of the incoming steel plate is 800 mm to 1200 mm, the two forks collect the material; When the length of the incoming steel plate is 1200mm-1500mm, the two forks collect the material; When the length of the incoming steel plate is 1500mm-2000mm, the two forks collect the material; When the length of the incoming steel plate is 2000mm-2800mm, the three forks collect the material; When the length of the incoming steel plate is 2800 mm to 3600 mm, the three forks collect the material; When the length of the incoming steel plate is 3600mm-4400mm, the three forks collect the material; When the length of the incoming steel plate is 4400mm-5000mm, the three forks collect the material. The positioning reference of the fork is as follows: When one of the forks is used to collect materials, the center of the fork numbered 1 is used as the positioning reference; When two forks are used to collect materials, the center of the fork numbered 1 and the center of the fork numbered 2 are used as positioning references, and the center of the fork numbered 2 coincides with the center of the stacker; When three forks are used to collect materials, the center of the fork No. 1 and the center of the fork No. 3 are used as positioning references, the fork No. 2 is located between the fork No. 1 and the fork No. 3, and the center of the fork No. 2 coincides with the center of the stacker; when the fork No. 1 and the fork No. 3 move toward each other to the limit position relative to the fork No. 2, the fork No. 2 needs to move to either side. The moving distances of the fork and the stacker are both multiples of the distance a between two adjacent cantilevers on the shelf.

2. The method for positioning a fork of a stacker according to claim 1, characterized in that: The length of the incoming steel plate is 400 mm to 5000 mm.

3. The method for positioning a fork of a stacker according to claim 1, characterized in that: The limit position of the fork No. 1 and the fork No. 3 moving toward each other relative to the fork No. 2 is a position 1800 mm away from the fork No.

2.

4. The method for positioning a fork of a stacker according to claim 1, characterized in that: The moving position of the fork numbered 2 is a position moved 200 mm to either side.

5. The method for positioning the fork of a stacker according to claim 1, characterized in that: It also includes the following material positioning steps: 1) The stacker receives a material fetching instruction; 2) The stacker and the fork move to the material picking position to perform material picking operation; 3) After the material is taken, the stacker sends a command to the truss robot arm, and the truss robot arm grabs the steel plate; 4) After grabbing, the stacker returns to the waiting work area and waits for the working state.

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